Ohnishi_Gundan / Mbed 2 deprecated Master-FM

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Dependencies:   MODSERIAL mbed-rtos mbed

Fork of Master by Ohnishi_Gundan

control.cpp@2:c610e1a7fbcd, 2014-09-11 (annotated)

Committer:
9uS7
Date:
Thu Sep 11 15:09:05 2014 +0000
Revision:
2:c610e1a7fbcd
Parent:
1:e1cfb5850088
Child:
3:12e1f116ea42
made motorSetup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
9uS7 0:4f07ba929908 1 #include "mbed.h"
9uS7 0:4f07ba929908 2 #include "control.h"
9uS7 0:4f07ba929908 3
9uS7 1:e1cfb5850088 4 //sensor
9uS7 1:e1cfb5850088 5 AnalogIn IR(p17);
9uS7 1:e1cfb5850088 6 AnalogIn FSR(p18);
9uS7 1:e1cfb5850088 7
9uS7 1:e1cfb5850088 8 //motor
9uS7 1:e1cfb5850088 9 DigitalOut Sig1(p21);
9uS7 1:e1cfb5850088 10 DigitalOut Sig2(p23);
9uS7 1:e1cfb5850088 11 PwmOut Pwm(p22);
9uS7 1:e1cfb5850088 12
9uS7 2:c610e1a7fbcd 13 void motorSetup(void){
9uS7 2:c610e1a7fbcd 14 resetPos();
9uS7 2:c610e1a7fbcd 15 }
9uS7 2:c610e1a7fbcd 16
9uS7 0:4f07ba929908 17 void pull(float buf){
9uS7 0:4f07ba929908 18 Sig1 = 0;
9uS7 0:4f07ba929908 19 Sig2 = 1;
9uS7 0:4f07ba929908 20 Pwm = zeroPWM+buf/3;
9uS7 0:4f07ba929908 21 }
9uS7 0:4f07ba929908 22
9uS7 0:4f07ba929908 23 void loose(float buf){
9uS7 0:4f07ba929908 24 Sig1 = 1;
9uS7 0:4f07ba929908 25 Sig2 = 0;
9uS7 0:4f07ba929908 26 Pwm = zeroPWM+buf/3;
9uS7 0:4f07ba929908 27 }
9uS7 0:4f07ba929908 28
9uS7 0:4f07ba929908 29 void brake(void){
9uS7 0:4f07ba929908 30 Sig1 = 0;
9uS7 0:4f07ba929908 31 Sig2 = 0;
9uS7 0:4f07ba929908 32 Pwm = 1;
9uS7 0:4f07ba929908 33 }
9uS7 0:4f07ba929908 34
9uS7 0:4f07ba929908 35 void open(void){
9uS7 0:4f07ba929908 36 Sig1 = 0;
9uS7 0:4f07ba929908 37 Sig2 = 0;
9uS7 0:4f07ba929908 38 Pwm = 0;
9uS7 0:4f07ba929908 39 }
9uS7 0:4f07ba929908 40
9uS7 2:c610e1a7fbcd 41 void resetPos(void){
9uS7 0:4f07ba929908 42 int pos_flag=0;
9uS7 1:e1cfb5850088 43
9uS7 0:4f07ba929908 44 while(1){
9uS7 1:e1cfb5850088 45 if(IR>center_pos){
9uS7 0:4f07ba929908 46 pull(0.3);
9uS7 1:e1cfb5850088 47 }else if(IR<center_pos){
9uS7 0:4f07ba929908 48 loose(0.3);
9uS7 0:4f07ba929908 49 }
9uS7 1:e1cfb5850088 50 if(abs(IR-center_pos)<0.1){
9uS7 1:e1cfb5850088 51 open();
9uS7 1:e1cfb5850088 52 pos_flag=-1;
9uS7 1:e1cfb5850088 53 }
9uS7 1:e1cfb5850088 54 if(pos_flag) break;
9uS7 0:4f07ba929908 55 }
9uS7 0:4f07ba929908 56 }